Can I read KUKA youBot: Gravity Compensation & Teaching on EtoBox?
KUKA youBot: Gravity Compensation & Teaching by celankan is a document available to read on EtoBox.
What is KUKA youBot: Gravity Compensation & Teaching about?
Engineers implemented gravity compensation and trajectory teaching using a KUKA youBot robot. They derived a gravity compensation term using Lagrange dynamics equations and implemented PD control. Trajectory teaching allowed recording arbitrary positions by demonstration. A Qt GUI remotely controlled the robot over Ethernet. Video demonstration showed the robot maintaining poses despite gravity.
- Author
- celankan
- Language
- EN